CvxPnPL: A Unified Convex Solution to the Absolute Pose Estimation Problem from Point and Line Correspondences

Sérgio Agostinho, João Gomes, Alessio Del Bue

We present a new convex method to estimate 3D pose from mixed combinations of 2D-3D point and line correspondences, the Perspective-n-Points-and-Lines problem (PnPL). We merge the…